CN214282213U

CN214282213U - Day lily picking robot

Info

Publication number: CN214282213U
Application number: CN202120206536.4U
Authority: CN
Inventors: 郝王丽; 胡杰; 邓林强; 宋国柱; 李富忠
Original assignee: Shanxi Agricultural University
Current assignee: Shanxi Agricultural University
Priority date: 2021-01-26
Filing date: 2021-01-26
Publication date: 2021-09-28
Anticipated expiration: 2031-01-26

Abstract

The utility model discloses a day lily picking robot relates to the robotechnology field. The utility model discloses a workstation, conveying mechanism and picking mechanism, the up end front portion of workstation is connected with adjustment mechanism, adjustment mechanism's top fixedly connected with conveying mechanism, the up end rear portion fixedly connected with collecting box of workstation, conveying mechanism's up end front portion fixedly connected with picking mechanism. The utility model discloses a picking mechanism and conveying mechanism have been set up, be convenient for cut the root of day lily and be difficult to make the muscle of root to take out silks, better the nutrient composition who has stayed day lily, do not destroy the branch, and can carry the collection box with day lily through conveying mechanism, people's intensity of labour has also been reduced when improving picking efficiency, the collecting box has been set up, can collect the day lily layering, the manual work of being convenient for is taken and transported, make the body of day lily be difficult to crush, the quality and the economic benefits of day lily have been improved, the collection function has also been accomplished simultaneously.

Description

Day lily picking robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a day lily picking robot.

Background

Day lily, also called day lily and forget-you-go-weed, are deeply liked by people due to their unique nutritive values, some day lily exquisite products can be sold far away from the sea, the picking work of day lily is troublesome, most day lily is picked manually, and the ripe day lily needs to be picked in a short time every day, so the day lily picking robot is used for helping to finish the picking work, but the following disadvantages still exist in the practical use:

1. the existing day lily picking robot has a partial imperfect structure, so that tendons at the root of the day lily can be drawn to cause nutrition loss, and most robots pay attention to the picking process and neglect the collecting process, so that the picked day lily is inconvenient to collect;

2. after the existing day lily picking robot picks up day lily, the day lily cannot be well collected and sorted, a large number of day lily are collected in a collection box, and the day lily at the bottom is easily compacted to cause rot, so that economic loss is caused.

Therefore, the existing day lily picking robot cannot meet the requirements in practical use, so that an improved technology is urgently needed in the market to solve the problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a day lily picking robot, through having set up pick and collect integrative structure and collecting box, solved current be not convenient for fine cut the day lily and collect, the problem that the day lily is damaged by the pressure in the collecting box easily.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme:

the utility model relates to a day lily picking robot, including workstation, conveying mechanism and picking mechanism, the up end front portion of workstation is connected with adjustment mechanism, adjustment mechanism's top fixedly connected with conveying mechanism, the up end rear portion fixedly connected with collecting box of workstation, conveying mechanism's up end front portion fixedly connected with picking mechanism.

Further, the up end of workstation is close to adjustment mechanism's right side fixedly connected with control box, the bottom of workstation is connected with crawler travel mechanism, the workstation up end is close to the first motor of fixedly connected with in the recess of adjustment mechanism's the front portion, the pivot fixedly connected with drive gear at first motor top, the control box can receive intelligent platform's signal, adjusts and starts each electrical components to control each electrical components and carry out work, crawler travel mechanism can make this picking robot remove work, and first motor and drive gear can make adjustment mechanism redirecting.

Further, adjustment mechanism includes carousel bearing, fixed disk and telescopic link, the up end fixedly connected with carousel bearing of workstation, and carousel bearing's outer lane and drive gear meshing, carousel bearing's up end fixedly connected with fixed disk, the outside fixedly connected with telescopic link of fixed disk up end, and the telescopic link distributes along the centre of a circle circumference array of fixed disk, the up end middle part fixedly connected with hydraulic stem of fixed disk, the top and the conveying mechanism fixed connection of hydraulic stem, carousel bearing can let adjustment mechanism rotate, and conveying mechanism's height can be controlled in the flexible of hydraulic stem, and the telescopic link can stabilize the fixed disk.

Further, conveying mechanism includes mount table and belt telescopic conveyor, the top fixed connection of mount table and hydraulic stem, and the bottom and the telescopic link fixed connection of mount table, the up end fixedly connected with belt telescopic conveyor of mount table, belt telescopic conveyor's outside swing joint has the conveyer belt, the both sides at the baffle are connected to the slider, and belt telescopic conveyor can extend self, and the belt can carry the day lily.

Furthermore, the two insides of the collecting box are provided with sliding grooves, the sliding grooves are connected with partition plates in a sliding mode through sliding blocks, and the partition plates can be firmly installed in the collecting box through the matching of the sliding grooves and the sliding blocks.

Further, the picking mechanism comprises an intelligent platform and a positioning block, the intelligent platform is fixedly connected to a telescopic table at the top of the belt telescopic conveyor, the front end of the intelligent platform is fixedly connected with a positioning block, the inside of the positioning block is rotatably connected with a clamping arm through a pin shaft, the top end of the pin shaft in the positioning block is fixedly connected with a driven gear which is meshed with the driving gear, the front end of the upper end surface of the intelligent platform is fixedly connected with a second motor, a rotating shaft at the top of the second motor is connected with a driving gear, the bottom end of the intelligent platform is fixedly connected with an electric push rod, the front end of the electric push rod is fixedly connected with a blade, a positioning block can limit and rotatably connect the clamping arm, the clamping arms can rotate through the matching of the driving gear and the driven gear, and the electric push rod can drive the blade to move.

The utility model discloses following beneficial effect has:

1. the utility model discloses a picking mechanism and conveying mechanism have been set up, be convenient for cut the root of day lily and be difficult to make the muscle of root to take out silks, the better nutrient composition who has stayed day lily does not destroy the branch to can carry the collection box with day lily through conveying mechanism, also reduced people's intensity of labour when improving picking efficiency.

2. The utility model discloses a set up the collecting box, can collect the day lily layering, the artifical transportation with the later stage of taking of being convenient for the body of day lily is difficult to crush, has improved the quality and the economic benefits of day lily, has also accomplished the collection function simultaneously.

Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a connection diagram of the first motor and the adjusting mechanism of the present invention;

fig. 3 is an elevation view of the picking mechanism of the present invention;

fig. 4 is an enlarged structural view of a portion a in fig. 3 according to the present invention;

fig. 5 is an internal structure view of the collecting box of the utility model.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a work table; 11. a control box; 12. a crawler travel mechanism; 13. a first motor; 14. a drive gear; 2. an adjustment mechanism; 21. a turntable bearing; 22. fixing the disc; 23. a telescopic rod; 24. a hydraulic lever; 3. a conveying mechanism; 31. an installation table; 32. a belt telescopic conveyor; 33. a conveyor belt; 4. a collection box; 41. a chute; 42. a slider; 43. a partition plate; 5. a picking mechanism; 51. an intelligent platform; 52. positioning blocks; 53. clamping arms; 54. a driven gear; 55. a driving gear; 56. a second motor; 57. an electric push rod; 58. a blade.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1-5, the utility model relates to a day lily picking robot, including workstation 1, conveying mechanism 3 and picking mechanism 5, the up end front portion of workstation 1 is connected with adjustment mechanism 2, and adjustment mechanism 2's top fixedly connected with conveying mechanism 3, workstation 1's up end rear portion fixedly connected with collecting box 4, conveying mechanism 3's up end front portion fixedly connected with picking mechanism 5.

As shown in fig. 1-4, a control box 11 is fixedly connected to the right side of the upper end surface of the workbench 1 close to the adjusting mechanism 2, a crawler traveling mechanism 12 is connected to the bottom end of the workbench 1, a first motor 13 is fixedly connected to the inner side of a groove of the upper end surface of the workbench 1 close to the front portion of the adjusting mechanism 2, the first motor 13 is a YE series low-speed motor, the series is a series common in the market, and not described herein, a driving gear 14 is fixedly connected to a rotating shaft at the top of the first motor 13, the adjusting mechanism 2 includes a turntable bearing 21, a fixed disk 22 and telescopic rods 23, a turntable bearing 21 is fixedly connected to the upper end surface of the workbench 1, an outer ring of the turntable bearing 21 is meshed with the driving gear 14, the fixed disk 22 is fixedly connected to the upper end surface of the turntable bearing 21, the telescopic rods 23 are fixedly connected to the outer side of the upper end surface of the fixed disk 22, and the telescopic rods 23 are distributed along the circle center of the fixed disk 22 in an array, the middle part of the upper end face of the fixed disc 22 is fixedly connected with a hydraulic rod 24, the top end of the hydraulic rod 24 is fixedly connected with the conveying mechanism 3, the conveying mechanism 3 comprises an installation table 31 and a belt telescopic conveyor 32, the installation table 31 is fixedly connected with the top end of the hydraulic rod 24, the bottom end of the installation table 31 is fixedly connected with a telescopic rod 23, the upper end face of the installation table 31 is fixedly connected with the belt telescopic conveyor 32, the outer part of the belt telescopic conveyor 32 is movably connected with a conveyor belt 33, the picking mechanism 5 comprises an intelligent platform 51 and a positioning block 52, the intelligent platform 51 is fixedly connected on the telescopic table at the top part of the belt telescopic conveyor 32, the front end of the intelligent platform 51 is fixedly connected with the positioning block 52, the inside of the positioning block 52 is rotatably connected with a clamping arm 53 through a pin shaft, the top end of the pin shaft inside the positioning block 52 is fixedly connected with a driven gear 54, the driven gear 54 is meshed with a driving gear 55, the front end of the upper end face of the intelligent platform 51 is fixedly connected with a second motor 56, the model of the second motor 56 is AF60-L1, which is a model commonly found in the market and not described herein, a rotating shaft at the top of the second motor 56 is connected with a driving gear 55, an electric push rod 57 is fixedly connected with the bottom end of the intelligent platform 51, a blade 58 is fixedly connected with the front end of the electric push rod 57, when the picking robot is used, the picking robot is moved to a proper position in a daylily field through the crawler walking mechanism 12, then the conveying mechanism 3 is started through the control box 11 on the workbench 1, the belt telescopic conveyor 32 extends to convey the picking mechanism 5 to the front of branches and buds of the daylily, after an image sensor on the intelligent platform 51 identifies the daylily, a signal is transmitted to the control box 11 through analysis of a data analyzer, the control box 11 adjusts the matching operation of various electrical elements to pick, the second motor 56 is started to drive the driving gear 55 to rotate the driven gear 54, the two clamping arms 53 are driven to rotate inwards on the positioning block 52, a plurality of daylily flowers are clamped in the intelligent platform 51 and the rings of the two clamping arms 53, then the electric push rod 57 is started to drive the blade 58 to cut the root of the branch bud of the day lily, and the daylily is cut off, falls on the conveyor belt 33, is conveyed by the conveyor belt 33, when the direction and height of the picking mechanism 5 are adjusted, the first motor 13 is started to drive the driving gear 14 to rotate, so that the turntable bearing 21 rotates, thereby the fixed disc 22 rotates, the conveying mechanism 3 and the picking mechanism 5 are driven to integrally rotate to adjust the direction, during the picking process, when the height of the daylily is not adjusted slightly, the hydraulic rod 24 is started to lift or lower the mounting table 31, the length of the telescopic rod 23 is increased or reduced, so that the height of the conveying mechanism 3 and the picking mechanism 5 is changed integrally, and the daylily at different heights can be picked.

As shown in fig. 1 and 5, chutes 41 are formed in two inner parts of the collection box 4, partition plates 43 are connected to the chutes 41 through sliders 42 in a sliding manner, the sliders 42 are connected to two sides of the partition plates 43, when the picking mechanism 5 picks up the daylily, the daylily is transferred through the conveying mechanism 3, the daylily falls on the conveyor belt 33, and falls on the bottommost layer in the collection box 4 after reaching the end of the conveyor belt 33, after the bottommost layer is filled with the daylily, the partition plates 43 are inserted into the chutes 41, the partition plates 43 are clamped in the collection box 4 through the sliders 42 on the partition plates 43 and continuously collected, and after the partition plates 43 are filled with the daylily, the next partition plates 43 are inserted for continuous collection.

One specific application of this embodiment is: during the use, the picking robot is moved to a daylily field, the control box 11 is used for adjusting the matching between the electrical components to carry out picking work, the adjusting mechanism 2 is used for adjusting the angle and the height of the picking mechanism 5 and the conveying mechanism 3 during picking, daylily is cut off by the picking mechanism 5 and falls on the conveying mechanism 3, then the daylily falls in the collecting box 4, the partition plate 43 is replaced by the next partition plate 43 after being filled, when the collecting box 4 is filled, a worker can take down the collecting box 4 for loading, and the next collecting box 4 is replaced for continuous collection.

The above is only the preferred embodiment of the present invention, and the present invention is not limited thereto, any technical solutions recorded in the foregoing embodiments are modified, and some technical features thereof are replaced with equivalent ones, and any modification, equivalent replacement, and improvement made thereby all belong to the protection scope of the present invention.

Claims

1. The utility model provides a day lily picking robot, includes workstation (1), conveying mechanism (3) and picking mechanism (5), its characterized in that: the picking machine is characterized in that an adjusting mechanism (2) is connected to the front portion of the upper end face of the workbench (1), a conveying mechanism (3) is fixedly connected to the top end of the adjusting mechanism (2), a collecting box (4) is fixedly connected to the rear portion of the upper end face of the workbench (1), and a picking mechanism (5) is fixedly connected to the front portion of the upper end face of the conveying mechanism (3).

2. A day lily picking robot according to claim 1, characterized in that a control box (11) is fixedly connected to the upper end face of the workbench (1) close to the right side of the adjusting mechanism (2), a crawler walking mechanism (12) is connected to the bottom end of the workbench (1), a first motor (13) is fixedly connected to the upper end face of the workbench (1) close to the front part of the adjusting mechanism (2) in a groove, and a driving gear (14) is fixedly connected to a rotating shaft at the top of the first motor (13).

3. The daylily picking robot according to claim 1, characterized in that adjustment mechanism (2) comprises a turntable bearing (21), a fixed disk (22) and a telescopic rod (23), the upper end face of workbench (1) is fixedly connected with turntable bearing (21), the outer ring of turntable bearing (21) is meshed with drive gear (14), the upper end face of turntable bearing (21) is fixedly connected with fixed disk (22), the outer side of the upper end face of fixed disk (22) is fixedly connected with telescopic rod (23), telescopic rod (23) is distributed along the circle center circumference array of fixed disk (22), the upper end face middle part of fixed disk (22) is fixedly connected with hydraulic rod (24), and the top end of hydraulic rod (24) is fixedly connected with conveying mechanism (3).

4. A day lily picking robot according to claim 1, characterized in that the conveying mechanism (3) comprises a mounting table (31) and a belt telescopic conveyor (32), the mounting table (31) is fixedly connected with the top end of the hydraulic rod (24), the bottom end of the mounting table (31) is fixedly connected with the telescopic rod (23), the upper end face of the mounting table (31) is fixedly connected with the belt telescopic conveyor (32), and a conveying belt (33) is movably connected to the outer portion of the belt telescopic conveyor (32).

5. A day lily picking robot as claimed in claim 1, characterized in that sliding grooves (41) are formed in the two inner parts of the collection box (4), a partition plate (43) is connected in the sliding grooves (41) in a sliding mode through sliding blocks (42), and the sliding blocks (42) are connected to the two sides of the partition plate (43).

6. The daylily picking robot according to claim 1, wherein the picking mechanism (5) comprises an intelligent platform (51) and a positioning block (52), the intelligent platform (51) is fixedly connected to the topmost telescopic table of the belt telescopic conveyor (32), the positioning block (52) is fixedly connected to the front end of the intelligent platform (51), the clamping arm (53) is rotatably connected to the inside of the positioning block (52) through a pin shaft, a driven gear (54) is fixedly connected to the top end of the pin shaft inside the positioning block (52), the driven gear (54) is meshed with a driving gear (55), a second motor (56) is fixedly connected to the front end of the upper end face of the intelligent platform (51), a rotating shaft at the top of the second motor (56) is connected with the driving gear (55), and an electric push rod (57) is fixedly connected to the bottom end of the intelligent platform (51), the front end of the electric push rod (57) is fixedly connected with a blade (58).